Related papers: AMC'24 "A Novel Stiffness Modulation Mechanism for…
In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control approach that enables to follow the motion plan of a first order…
A novel motion control system for Compliant Framed wheeled Modular Mobile Robots (CFMMR) is studied in this paper. This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and…
This paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…
Current upper limb prostheses aim to enhance user independence in daily activities by incorporating basic motor functions. However, they fall short of replicating the natural movement and interaction capabilities of the human arm. In…
Modular soft robots have shown higher potential in sophisticated tasks than single-module robots. However, the modular structure incurs the complexity of accurate control and necessitates a control strategy specifically for modular robots.…
Although robots with flexible bodies are superior in terms of the contact and adaptability, it is difficult to control them precisely. On the other hand, human beings make use of the surrounding environments to stabilize their bodies and…
Humanoid robots have the potential capability to perform a diverse range of manipulation tasks, but this is based on a robust and precise standing controller. Existing methods are either ill-suited to precisely control high-dimensional…
Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new…
In this paper, the control problem for underactuated systems in the presence of external disturbances and model uncertainties is considered. An adaptive fuzzy sliding mode controller (AFSMC) is proposed to solve the problem, satisfying the…
Precise and flexible cart-pushing is a challenging task for mobile robots. The motion constraints during cart-pushing and the robot's redundancy lead to complex motion planning problems, while variable payloads and disturbances present…
Sim-to-real transfer remains a significant challenge in soft robotics due to the unpredictability introduced by common manufacturing processes such as 3D printing and molding. These processes often result in deviations from simulated…
In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (TDE) framework with a second order switching controller of…
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…
In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…
This study examines the mechanical behavior of a novel class of mechanical metamaterials alternating pentamode lattices and stiffening plates. The unit cell of such lattices consists of a sub-lattice of the face cubic-centered unit cell…
Modulating the stiffness of soft actuators is crucial for improving the efficiency of interaction with the environment. However, current stiffness modulation mechanisms are hard to achieve high lateral stiffness and a wide range of bending…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
Soft robotics is a rapidly growing area of robotics research that would benefit greatly from design automation, given the challenges of manually engineering complex, compliant, and generally non-intuitive robot body plans and behaviors. It…
Traditional robots have rigid links and structures that limit their ability to interact with the dynamics of their immediate environment. For example, conventional robot manipulators with rigid links can only manipulate objects using…
In the fields of robotics and biomechanics, the integration of elastic elements such as springs and tendons in legged systems has long been recognized for enabling energy-efficient locomotion. Yet, a significant challenge persists:…